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AgiBot (Zhiyuan Robotics) · humanoid
AgiBot Lingxi X1
1.3 m open-source DIY humanoid whose hardware drawings, training code and inference stack AgiBot published on GitHub in October 2024.
Provenance
No browser-ready model packaged yet.
The description is public, but nobody has pinned a commit and checked it compiles in MuJoCo WASM. Clone it and drop the folder on the viewport above (MJCF, or URDF with STL/OBJ meshes). Files stay in your tab.
Policies listed for AgiBot Lingxi X1
- source
walk, legs only (upper body held still), joystick velocity commands
ONNX Runtime in AimRT rl_control_module, 1 kHz control; trained with agibot_x1_train (Isaac Gym, humanoid-gym style PPO) · ONNX published; contract not yet reproduced and tested here
- source
walk with shoulder pitch following the gait (walk_leg_arm mode)
ONNX Runtime in AimRT rl_control_module · ONNX published; contract not yet reproduced and tested here
- source
x1_dh_stand training recipe (standing/walking, 12 leg actions)
Isaac Gym Preview 4 + rsl_rl-style PPO (legged_gym / humanoid-gym lineage) · not replayed in the tab
Train on GPUs
mjlab ships no stock task for AgiBot Lingxi X1. The training page gives you the pinned model and the steps to write a robot config.